{"id":"https://openalex.org/W4413926166","doi":"https://doi.org/10.1109/icra55743.2025.11127236","title":"Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational Joint","display_name":"Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational Joint","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926166","doi":"https://doi.org/10.1109/icra55743.2025.11127236"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010139399","display_name":"Sicheng Wang","orcid":"https://orcid.org/0000-0001-7640-8369"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sicheng Wang","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049827737","display_name":"Eugenio Frias-Miranda","orcid":"https://orcid.org/0000-0002-9539-3462"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugenio Frias-Miranda","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058569092","display_name":"Antonio Alvarez Valdivia","orcid":"https://orcid.org/0000-0002-1810-8234"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Alvarez Valdivia","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University,Robust and Adaptive Design (RAAD) Lab,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3414","last_page":"3420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9603999853134155,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7112609148025513},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6369836330413818},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6198936104774475},{"id":"https://openalex.org/keywords/anisotropy","display_name":"Anisotropy","score":0.5554707646369934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.476928174495697},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45327767729759216},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4291127920150757},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4192991554737091},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3894871175289154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2920685410499573},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29136666655540466},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2698807418346405},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.19849076867103577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19797664880752563},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.17086750268936157}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7112609148025513},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6369836330413818},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6198936104774475},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.5554707646369934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.476928174495697},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45327767729759216},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4291127920150757},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4192991554737091},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3894871175289154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2920685410499573},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29136666655540466},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2698807418346405},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.19849076867103577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19797664880752563},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.17086750268936157}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2488134501","display_name":null,"funder_award_id":"2308653,2129155,DGE-1842166","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1982286666","https://openalex.org/W1984187759","https://openalex.org/W2005502113","https://openalex.org/W2058004183","https://openalex.org/W2101667962","https://openalex.org/W2622106568","https://openalex.org/W2737491236","https://openalex.org/W2775054021","https://openalex.org/W2783420965","https://openalex.org/W2784648116","https://openalex.org/W2951184982","https://openalex.org/W3010844811","https://openalex.org/W3038216440","https://openalex.org/W3090571370","https://openalex.org/W3207860212","https://openalex.org/W3210103499","https://openalex.org/W4206107294","https://openalex.org/W4220948250","https://openalex.org/W4287888332","https://openalex.org/W4376605780","https://openalex.org/W4386001584","https://openalex.org/W4387934998","https://openalex.org/W4389667349","https://openalex.org/W4396217876","https://openalex.org/W4396853281","https://openalex.org/W4396875085","https://openalex.org/W4396875108","https://openalex.org/W4396875130","https://openalex.org/W4401413625"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W2366081543","https://openalex.org/W4386883573","https://openalex.org/W2116005591"],"abstract_inverted_index":{"Soft":[0],"robots":[1,59],"are":[2],"known":[3],"for":[4,27,57,135,144,159],"their":[5,15],"ability":[6,114],"to":[7,115],"perform":[8],"tasks":[9],"with":[10,39,60,79],"great":[11],"adaptability,":[12],"enabled":[13,65],"by":[14,66,85,107],"distributed,":[16],"non-uniform":[17],"stiffness":[18,74,82,96],"and":[19,34,90,110,143,148],"actuation.":[20],"Bending":[21],"is":[22],"the":[23,72,76,80,86,95,99,112,117,133],"most":[24],"fundamental":[25],"motion":[26],"soft":[28,36,58,140,164],"robot":[29,142],"design,":[30],"but":[31],"creating":[32],"robust,":[33],"easy-to-fabricate":[35],"bending":[37,63,77],"joint":[38],"tunable":[40],"properties":[41,97,131],"remains":[42],"an":[43,53],"active":[44],"problem":[45],"of":[46,88,98,124],"research.":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"demonstrate":[52,111],"inflatable":[54],"actuation":[55,100,137,146,162],"module":[56,101,154],"a":[61,103,121,139,156],"defined":[62],"plane":[64],"forced":[67],"partial":[68],"wrinkling.":[69],"This":[70],"lowers":[71],"structural":[73],"in":[75,138],"direction,":[78],"final":[81],"easily":[83],"designed":[84],"ratio":[87],"wrinkled":[89],"unwrinkled":[91],"regions.":[92],"We":[93,127],"show":[94],"through":[102],"first-principle":[104],"model":[105],"validated":[106],"experimental":[108],"characterization,":[109],"module's":[113],"maintain":[116],"kinematic":[118],"constraint":[119],"over":[120],"large":[122],"range":[123],"loading":[125],"conditions.":[126],"illustrate":[128],"how":[129],"these":[130],"give":[132],"potential":[134],"complex":[136],"continuum":[141],"decoupling":[145],"force":[147],"efficiency":[149],"from":[150],"load":[151],"capacity.":[152],"The":[153],"provides":[155],"novel":[157],"method":[158],"embedding":[160],"intelligent":[161],"into":[163],"pneumatic":[165],"robots.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}